text: /*
   * inertial_filter.h
   *
   *   Copyright (C) 2013 Anton Babushkin. All rights reserved.
   *   Author: 	Anton Babushkin	<rk3dov@gmail.com>
   */
  
  #include <stdbool.h>
  #include <drivers/drv_hrt.h>
  
  void inertial_filter_predict(float dt, float x[3], float acc);
  
  void inertial_filter_correct(float e, float dt, float x[3], int i, float w);
  